摘要
人机协同操作是机器人研究的热点。基于自主搭建的用于人机协同操作的小型Delta并联机器人,对其进行了系统地理论建模及抓取实验研究。建立了系统的运动学约束方程,推导出机构的运动学正逆解方程,并在此基础上利用虚功原理建立系统的简化动力学模型。在工作空间内对末端进行抓取轨迹规划。为检验系统的可行性,搭建实验系统进行抓取实验研究,实验结果表明了该小型Delta机器人系统的可行性,为后续人机协同操作奠定理论和硬件基础。
Human-robot collaborative manipulation is a hotspot of robot research. Based on the self-developed small Delta parallel robot which is used for human-robot collaborative manipulation,the theoretical modeling and grasping experiments are systematically carried out. The kinematics constraint equations of the system were established,the forward and inverse kinematics equations of the mechanism were derived,and the simplified dynamic model of the system was established using the principle of virtual work. The grasping trajectory planning were carried out within the workspace. In order to verify the feasibility of the system,an experimental system was established to carry out the grasping experiment. The experimental results show the feasibility of the small Delta robot system,which lays a theoretical and hardware foundation for the human-robot cooperation operation in the future research.
作者
张续冲
张宪民
刘胜
ZHANG Xuchong;ZHANG Xianmin;LIU Sheng(School of Design,South China University of Technology,Guangzhou Guangdong 510006,China;Guangdong Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou Guangdong 510640,China;School of Electrical and Information Engineering,Zhengzhou University of Light Industry,Zhengzhou Henan 450000,China)
出处
《机床与液压》
北大核心
2020年第3期5-8,4,共5页
Machine Tool & Hydraulics
基金
广东省精密装备与制造技术重点实验室开放课题资助项目(PEM201701)
华南理工大学中央高校基本科研业务费资助项目(2017BQ081)
华南理工大学本科教研教改项目(Y1180601)。
